JP5884909B2 - Cooperative control device, cooperative control method, and cooperative control program - Google Patents

Description

  The present invention relates to a cooperative control device, a cooperative control method, and a cooperative control program, and in particular, applies kinematics to a pointing angle error of a second directing means in two directing means used for receiving an optical signal from an opposite station. By using the integration result obtained by sequentially integrating the directivity angle errors of the first directivity means obtained every calculation cycle, the directivity angle of the first directivity means can reach the target angle of the first directivity means, The present invention relates to a cooperative control device, a cooperative control method, and a cooperative control program capable of canceling a pointing angle error of a two-directional means.

In the related technology described in “Coordinated control algorithm of on-board tracking control system in optical space communication” of Non-Patent Document 1 (Daisuke Shimizu et al., 49th Airplane Symposium), optical space communication is performed with the opposite station. In this case, the first directing means (for example, a gimbal) and the second directing means installed for fine tracking on the first directing means as the directing means that enables the optical signal from the opposite station to be tracked and received. (For example, FPM: Fine Pointing Mechanism (FPM)). Here, the kinematic / geometric conversion formula of the following formula (1) is set between the pointing angle error α of the second pointing means, the pointing angle θ _g of the first pointing means, and the target angle θ ′ _g. The following relationship is established.

なお、式（１）には、簡素化のために、１軸のみについて示している。ここで、
α：第二指向手段指向角度誤差
θ_ｇ：対向局と自局との位置情報（例えば、ＧＰＳ（Global Positioning System）により測位した位置情報）から求められる第一指向手段指向角度
θ'_ｇ：第二指向手段指向角度誤差αを第一指向手段指向角度誤差に運動学的に換算したものに対して第一指向手段指向角度θ_ｇを加算して得られる第一指向手段目標角度

Note that, in formula (1), only one axis is shown for simplification. here,
α: second pointing means pointing angle error θ _g : first pointing means pointing angle θ ′ _g : obtained from position information (for example, position information measured by GPS (Global Positioning System)) between the opposite station and the own station first directing means target angle obtained by adding the first directing means directivity angle theta _g with respect to those two directing means directed angle error α in terms kinematically to the first directing means directivity angle error

Here, in Non-Patent Document 1, the directivity angle error α of the second directivity means is converted into the directivity angle error (θ ′ _g −θ _g ) of the first directivity means using Equation (1). by controlling the directivity angle of the first directing means from theta _g the target angle theta _'g, it is assumed that it is possible to cancel the directivity angle error α of the second directing means. Expression (1) is calculated for each predetermined calculation cycle of a CPU (Central Processing Unit).

Daigo Shimizu et al. (NEC Corporation), “Coordinated control algorithm for on-board tracking control system in optical space communication”, 49th Airplane Symposium, October 2011.

However, the described in Non-Patent Document 1 technology, as shown by the solid line l1 in Fig. 5, toward the directional angle of the first directing means from theta _g the target angle of theta _'g of the first directing means rotation At the same time, as indicated by the long broken line l2 in FIG. 5, the pointing angle error α of the second pointing means also starts to be eliminated. As a result, as shown by short dashed lines l3 in Figure 5, by Equation (1), and the target angle of the first directing means changes, theta 'will change to theta _"g from _g. Therefore, the first directivity angle of the directing means can not reach the initial target angle a was the theta _'g, so that would calm state of being rotated until the theta _"g. Also, the error of the directivity angle of the second directivity means is changed from α to '0' and is not canceled, and is α ". Therefore, the error α of the directivity angle of the second directivity means is canceled. 5 is an explanatory diagram for explaining the problems of the conventional technique described in Non-Patent Document 1, and for simplifying the explanation,
α = θ ′ _g −θ _g
As described.

(Object of the present invention)
The present invention has been made in view of the above-described problems, and in two directing means used for receiving an optical signal, the directivity angle of the first directing means is surely reached the target angle of the first directing means. An object of the present invention is to provide a cooperative control device, a cooperative control method, and a cooperative control program that can reliably cancel the pointing angle error of the second directing means.

  In order to solve the above-described problems, the cooperative control device, the cooperative control method, and the cooperative control program according to the present invention mainly adopt the following characteristic configuration.

(1) The cooperative control apparatus according to the present invention is a cooperative control that controls two directional means, ie, a first directional means and a second directional means, provided as directional means used for receiving an optical signal from an opposite station. A device,
Position information acquisition means for acquiring both the position information of the own station and the opposite station or the position information and the attitude information of the own station and the opposite station;
A target based on position information of the first directing means using both the position information of the own station and the opposite station acquired by the position information acquisition means or the position information and the attitude information of the own station and the opposite station. Directivity angle generating means for calculating an angle;
By applying kinematics to the directional angle error of the second directional means, the target angle based on the position information of the first directional means calculated by the directional angle generating means is set as the directional angle error of the second directional means. Conversion means for converting to a target angle using the kinematics of the first directing means for removing;
In a coordinated control device comprising at least
The target error angle of the first directing means obtained by subtracting the target angle based on the position information of the first directing means from the target angle using the kinematics of the first directing means converted by the converting means. Integrating means for integrating;
It is possible to remove the pointing angle error of the second directing means by adding the target error angle of the first directing means accumulated by the integrating means to the target angle based on the position information of the first directing means. Adding means for outputting as a target angle at the time of cooperative control of the first directing means;
Is further provided.

(2) The coordinated control method according to the present invention is a coordinated control in which two directional units, a first directional unit and a second directional unit, provided as a directional unit used for receiving an optical signal from the opposite station are coordinated and controlled. A method,
A position information acquisition step of acquiring both the position information of the own station and the opposite station or the position information and the attitude information of the own station and the opposite station;
Using both the position information of the own station and the opposite station acquired in the position information acquisition step or the position information and the attitude information of the own station and the opposite station, the target based on the position information of the first directing means A directivity angle generation step for calculating an angle;
By applying kinematics to the pointing angle error of the second pointing means, the target angle based on the position information of the first pointing means calculated by the pointing angle generation step is set to the pointing angle error of the second pointing means. A conversion step for converting to a target angle using the kinematics of the first directing means for removal;
In a cooperative control method having at least
A target error angle of the first directing means obtained by subtracting a target angle based on the position information of the first directing means from a target angle using the kinematics of the first directing means converted by the conversion step. An integration step to integrate,
It is possible to add the target error angle of the first directing means accumulated in the integrating step to the target angle based on the position information of the first directing means to remove the directivity angle error of the second directing means. An adding step for outputting as a target angle at the time of cooperative control of the first directing means;
It further has these.

  (3) The cooperative control program according to the present invention is characterized in that at least the cooperative control method described in (2) is implemented as a program executable by a computer.

  According to the cooperative control device, the cooperative control method, and the cooperative control program of the present invention, the following effects can be obtained.

  That is, in the two directivity means of the first directivity means and the second directivity means provided as the directivity means used for receiving the optical signal from the opposite station, kinematics is applied to the directivity angle error of the second directivity means. By determining the pointing angle error of the first directing means and further using the result obtained by integrating the obtained directing angle error of the first directing means as the target error angle, the target angle of the first directing means is calculated. Therefore, the directivity angle of the first directivity means can be surely reached the target angle of the first directivity means, and the directivity angle error of the second directivity means can be canceled reliably.

It is a block diagram which shows an example of the block configuration of the cooperative control apparatus which concerns on embodiment of this invention. 3 is a calculation flowchart for explaining an example of a calculation operation of a target angle at the time of cooperative control in the cooperative control device of FIG. 1. It is explanatory drawing for demonstrating the effect of the integration in the integrator of the cooperative control apparatus of FIG. FIG. 4 is an explanatory diagram for explaining an example of the influence of the change of the calculation cycle on the integration operation in the integrator of the cooperative control apparatus of FIG. 1, and the calculation cycle that is halved to (1/2) of the calculation cycle of the explanatory diagram of FIG. 3. Operation when set to. It is explanatory drawing for demonstrating an example of the influence by the change of a calculation period with respect to the integration operation in the integrator of the cooperative control apparatus of FIG. 1, and operation | movement at the time of setting to the same calculation period as the calculation period of explanatory drawing of FIG. Indicates. It is explanatory drawing for demonstrating the subject of the prior art.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of a cooperative control device, a cooperative control method, and a cooperative control program according to the present invention will be described with reference to the accompanying drawings. In the following description, the cooperative control device and the cooperative control method according to the present invention will be described. However, the cooperative control method may be implemented as a cooperative control program that can be executed by a computer, or cooperative control. Needless to say, the program may be recorded on a computer-readable recording medium.

(Features of the present invention)
Prior to the description of the embodiments of the present invention, an outline of the features of the present invention will be described first. In the present invention, when performing optical space communication with the opposite station, as in the case of Non-Patent Document 1, the first directivity is used as a directing means that enables the optical signal from the opposite station to be tracked and received. There are two directing means: a means (for example, a gimbal) and a second directing means (for example, FPM: Fine Pointing Mechanism) installed on the first directing means for fine tracking. Here, unlike the non-patent document 1, the present invention obtains the directivity angle error of the first directivity means by applying kinematics to the directivity angle error of the second directivity means, and further obtains the obtained first directivity. By calculating the target angle of the first directing means using the result of integrating the directivity angle errors of the means, the directivity angle of the first directing means can be made to reach the target angle of the first directing means Is the main feature.

  More specifically, the present invention employs the following mechanism. First, using the position information of the own station and the opposite station, calculate the target angle based on the position information of the first directing means, and then apply kinematics to the calculated target angle based on the position information of the first directing means And it converts into the target angle using the kinematics of the 1st directing means for removing the directivity angle error of the 2nd directing means.

  Thereafter, the target error angle of the first directing means obtained by subtracting the target angle based on the position information of the first directing means from the converted target angle using the kinematics of the first directing means is sequentially integrated every calculation cycle.

  Furthermore, by adding the target angle based on the position information of the first directing means to the integration result of the target error angle integrated every calculation cycle, it is possible to remove the directivity angle error of the second directing means. The main feature is the operation of outputting as a target angle at the time of cooperative control of the pointing means.

  Thus, the effect that the pointing angle error of the second pointing means can be canceled reliably can be achieved.

(Configuration example of embodiment)
Next, a configuration example of the embodiment of the cooperative control device according to the present invention will be described with reference to the block diagram of FIG. FIG. 1 is a block diagram illustrating an example of a block configuration of a cooperative control device according to an embodiment of the present invention. The cooperative control device 100 shown in FIG. 1 is described by taking an example of performing optical space communication between the own station 1 and the opposite station 2, and the block configuration of the cooperative control device 100 on the opposite station 2 side is as follows. In the following description, only the necessary blocks are described, and other blocks are not shown.

  As shown on the own station 1 side in FIG. 1, the cooperative control device 100 includes a first directing means 3, a second directing means 4, a first directing means angle sensor 5, a second directing means angle sensor 6, a light receiving sensor 7, Own station position information acquisition unit 8, second controller 9, second driver 10, first controller 11, first driver 12, laser generator 13, opposite station position information acquisition unit 14, pointing angle generator based on position information 15, a converter 16, an integrator 17, and an adder 18. That is, the cooperative control apparatus 100 performs the first directivity as a directing means that enables the optical signal from the laser generator 13 of the opposite station 2 to be tracked and received when performing optical space communication with the opposite station 2. For fine control such as means 3 (for example, coarse control directing means such as gimbal) and second directing means 4 (for example, FPM: Fine Pointing Mechanism) installed on the first directing means 3 for fine tracking The first directing means 3 and the second directing means 4 are coordinated using the calculation results of the directivity angle generator 15, the accumulator 17, and the adder 18 based on the position information. And is configured to be controlled.

  The second directing means 4 is means for rotating a mirror that receives light for optical communication generated by the laser generator 13 on the opposite station 2 side about two axes, and the first directing means 3 is the second directing means 4. Is means for further rotating the shaft about two axes. The first directing means angle sensor 5 is a means for detecting the rotation angle of the first directing means 3, and is configured using, for example, a resolver. Here, the rotation angle of the first directing means 3 detected by the first directing means angle sensor 5 is input to the first controller 11 as the current angle of the first directing means 3. The second directing means angle sensor 6 is means for directly detecting the tilt (rotation angle) of the mirror in the second directing means 4 and is attached to the second directing means 4.

  The own station position information acquisition unit 8 is means for acquiring position information of the own station 1 (for example, position information by GPS (Global Positioning System)). The opposite station position information acquisition unit 14 is means for transmitting the position information on the own station 1 side acquired by the own station position information acquisition unit 8 on the own station 1 side to the opposite station 2 as opposite station position information. Similarly, the opposite station position information acquisition unit 14 on the opposite station 2 side transmits the position information of the opposite station 2 to the own station 1 as the opposite station position information. The pointing angle generator 15 based on the position information uses the opposite station position information acquired from the opposite station position information acquisition unit 14 on the opposite station 2 side and the own station position information acquired by the own station position information acquisition unit 8. This is means for generating a target angle based on position information of the first directing means 3.

  The first controller 11 outputs the target angle based on the position information of the first directing means 3 output through the adder 18 from the directivity angle generator 15 based on the position information, or the first directing means 3 by the adder 18. The target angle using the kinematics of the first directing means 3 obtained by adding the target angle based on the position information and the integration result from the integrator 17 and the angle detected by the first directing means angle sensor 5 ( Phase compensation is performed, a control signal for the first directing means 3 is generated and output to the first directing means 3 via the first driver 12, and the first directing means 3 is output. Is a means for directing to a target angle. As a result, the light for optical communication generated from the laser generator 13 on the opposite station 2 side is incident on the mirror of the second directing means 4 and reflected to the light receiving sensor 7 (for example, a four-divided light receiving element). Will be guided.

  Further, the second controller 9 sets the target angle of the second directing means 4 to 0 degree, selects either the output of the light receiving sensor 7 or the output of the second directing means angle sensor 6, and then selects the second directivity A current angle that is an error in the pointing angle of the means 4 is generated, and a phase compensation is performed from the target angle of the second pointing means 4 and the current angle of the second pointing means 4 to generate a control signal for the second pointing means 4 And it is a means for directing the 2nd directing means 4 to the target angle (in this case, 0 degree | times) by outputting to the 2nd directing means 4 via the 2nd driver 10. FIG.

  Further, the converter 16 detects the mirror tilt (rotation angle) detected by the second directing means angle sensor 6, that is, the directivity angle error of the second directing means 4 and the first directing means angle sensor 5. Based on the rotation angle of the first directing means 3, in order to remove the directivity angle error of the second directing means 4, the kinematics is applied to the directivity angle error of the second directing means 4, thereby indicating the directivity by position information. This is a conversion means for converting the target angle based on the position information of the first directing means 3 generated by the angle generator 15 into the target angle using the kinematics of the first directing means 3.

  Further, the accumulator 17 calculates the position of the first directing means 3 generated by the directivity angle generator 15 based on position information from the target angle using the kinematics of the first directing means 3 converted by the converter 16. It is an accumulating means for sequentially accumulating a target error angle obtained by subtracting the target angle based on information for each predetermined calculation cycle. As a result, the adder 18 adds the integration result integrated by the integrator 17 to the target angle based on the position information of the first directing means 3 output from the directivity angle generator 15 based on the position information. As a target angle of the first controller 11, that is, as a target angle at the time of cooperative control of the first directing means 3 that can remove the directivity angle error of the second directing means 4, the first controller 11 11 is output.

Here, when the rotation angles of the two axes of the first directing means 3 that are the outputs of the first directing means angle sensor 5 are AZ (azimuth) axis Ψ and EL (elevation) axis θ, directivity angle generation based on position information is performed. The target angles Ψ _g and θ _g of the first directing means 3 generated by the vessel 15 are given by the following expressions (2) and (3). The target angles Ψ _g and θ _g of the first directing means 3 given by the expressions (2) and (3) are referred to as “target angles based on position information” in the present embodiment.

なお、変数ａ、ｂ、ｃは、前記非特許文献１において記載されているように、次の式（４）、式（５）に示す自局位置情報から対向局位置情報までの目標ベクトルによって定義される。

Note that the variables a, b, and c are determined by the target vectors from the local station position information to the opposite station position information shown in the following equations (4) and (5), as described in Non-Patent Document 1. Defined.

Here, when the directivity angle of the first directing means 3 is correctly directed to the target angles Ψ _g and θ _g represented by the expressions (2) and (3), that is, the “target angle based on position information”. The second controller 9 uses the output of the light receiving sensor 7 to control the second directing means 4 at 0 degrees for both axes. At the same time, it is assumed that the output of the second directing means angle sensor 6 is 0 degrees for both axes.

Thereafter, either the opposite station 2 or the own station 1 moves, the optical axis of the light emitted from the laser generator 13 of the opposite station 2 is shifted, the mirror of the second directing means 4 is tilted, and the second directivity It is assumed that the rotation angles of the two axes, which are the outputs of the means angle sensor 6, have changed from 0 degrees to α degrees (≠ 0) on the X axis and from 0 degrees to β degrees (≠ 0) on the Y axis. In such a case, the biaxial rotation angle of the second directing means 4 (that is, the directivity angle error) can be canceled by the kinematic formulation between the first directing means 3 and the second directing means 4. The target angles ψ ′ _g and θ ′ _g of the first directing means 3 are given by the following equations (6) and (7) as described in Non-Patent Document 1. The target angles ψ ′ _g and θ ′ _g of the first directing means 3 given by the equations (6) and (7) are referred to as “target angles using kinematics” in the present embodiment.

Further, as described above, in the prior art, the directivity angle of the first directing means 3 cannot reach the target angle, and the directivity angle error α of the second directing means 4 cannot be canceled. In order to solve this, in this embodiment, from the “target angles Ψ ′ _g , θ ′ _g using kinematics” of the first directing means 3 given by the equations (6) and (7), the equation (2) The integrator 17 for integrating the target error angle obtained by subtracting the “target angles Ψ _g , θ _g according to position information” of the first directing means 3 given by the equation (3) is provided. An adder 18 for adding the integration results of the integrator 17 to the target angles Ψ _g , θ _g ”based on the position information is provided.

Here, the steps of integration and addition in the integrator 17 and the adder 18 will be described below. As shown in the following equations (8) and (9), a subtraction process of “target angles Ψ ′ _g , θ ′ _g ” using “kinematics” − “target angles Ψ _g , θ _g based on position information” The calculation is performed every calculation cycle, and the subtraction result is integrated by the integrator 17 every calculation cycle as a target error angle.

On the other hand, the target angles ψ ′ _a , θ ′ _a at the time of cooperative control of the first directing means 3 are “target angles Ψ _g , θ _g based on position information” as shown in the following formulas (10) and (11). _Are added by the adder 18 with the integration results ΔΨ ′ _gsum and Δθ ′ _gsum given by the equations (8) and (9).

When the power is turned on, the integration results ΔΨ ′ _gsum and Δθ ′ _gsum in the integrator 17 are initialized as shown in the following equation (12).

Here, the “target angles Ψ ′ _g and θ ′ _g using kinematics” of the first directing means 3 given by the equations (6) and (7) are calculated by the converter 16 shown in FIG. The integration results ΔΨ ′ _gsum and Δθ ′ _{gsum that} are output and given by the equations (8) and (9) are calculated and output by the integrator 17 shown in FIG. 1, and are expressed by the equations (10) and (11). The given target angles ψ ′ _a and θ ′ _a during the cooperative control of the first directing means 3 are calculated by the adder 18 shown in FIG. 1 and output.

(Description of operation of embodiment)
Next, an example of the operation of the cooperative control apparatus 100 shown in FIG. 1 will be described using the calculation flowchart of FIG. FIG. 2 is a calculation flowchart for explaining an example of a calculation operation of the target angle at the time of cooperative control in the cooperative control device 100 of FIG.

In the calculation flowchart of FIG. 2, it is confirmed whether or not the cooperative control device 100 is turned on (step S1). When the power is turned on (YES in step S1), the above-described equation (12) is calculated. Then, the integration results ΔΨ ′ _gsum and Δθ ′ _gsum in the integrator 17 are initialized (step S2). Thereafter, the above-described equations (2) and (3) are calculated to calculate “target angles Ψ _g , θ _g based on position information” (step S3).

  Next, as a command input from the user, an instruction for cooperative control of coarse control and fine control is input, and it is confirmed whether the cooperative control is on (step S4). If the cooperative control is not turned on (NO in step S4), the calculation in step S5 is skipped and the process proceeds to step S6. If the cooperative control is turned on (YES in step S4), The calculation of step S5 is executed.

When the process proceeds to step S5, first, the above-described equations (6) and (7) are calculated to calculate “target angles Ψ ′ _g and θ ′ _g using kinematics”. 8) The target error obtained by subtracting “target angle Ψ ′ _g , θ ′ _g using kinematics” − “target angle Ψ _g , θ _g based on position information” by calculating Equation (9) The angle is integrated every calculation period, and thereafter, the calculations of Expressions (10) and (11) are performed, and the expressions (8) and (9) are further added to “target angles Ψ _g and θ _g based on position information”. Are added to calculate the target angles ψ ′ _a , θ ′ _a during the cooperative control of the first directing means 3 (step S5).

  Next, in order to update the calculation cycle to the next cycle, the calculation related to the time shown in the following equation (13) is performed, the calculation cycle is updated (step S6), and then the process returns to step S3.

ここで、Δｔは、あらかじめ定めた演算周期を与える時間間隔を示している。

Here, Δt represents a time interval giving a predetermined calculation cycle.

Although not clearly shown in the calculation flowchart of FIG. 2, when the cooperative control is on, the target angle of the first directing means 3 is obtained by the calculation of Expressions (10) and (11). The target angles ψ ′ _a , θ ′ _a at the time of cooperative control of the directing means 3 are set, and when the cooperative control is off, the target angles of the first directing means 3 are set to target angles Ψ _g , θ _g based on position information.

Next, in the accumulator 17, the above-described equations (8) and (9) are calculated to obtain (target angle Ψ ′ _g , θ ′ _g using kinematics) − (target angle Ψ _g based on position information). , Θ _g ) will be further described with reference to the explanatory diagram of FIG. 3 for the effect of integrating the target error angle obtained for each calculation cycle. FIG. 3 is an explanatory diagram for explaining the effect of integration in the integrator 17 of the cooperative control apparatus 100 of FIG. 1. In order to simplify the description, only one of the EL axes is shown, and the second pointing means It is assumed that only the X axis α of 4 affects the EL axis angle θ of the first directing means 3.

In the explanatory diagram of FIG. 3, the horizontal axis indicates time, the vertical axis indicates angle, and as indicated by the time axis of the horizontal axis in FIG. 3, the calculation cycle is from the first cycle to the sixth cycle. 6 cycles are shown. Further, upward-sloping stepped straight shown by one-dot chain line l4 in FIG. 3 is a trajectory of the target angle theta _'a when coordinated control of the first directing means 3, upper right shown by the solid line l1 in Fig. 3 This curve is the locus of the directivity angle of the first directing means 3, and the sawtooth curve shown by the long broken line 12 in FIG. 3 is the locus of the directivity angle of the second directivity means 4.

Here, before time t0 in the initial state, the cooperative control is turned off, the directivity angle of the second directing means 4 (that is, the directivity angle error) is α, and the directivity angle of the first directing means 3 is the same as that described above. It is assumed that θ _g shown in Equation (3).

When the cooperative control is turned on in response to an instruction from the user at time t0, the integration operation is performed once by the above-described formulas (7), (9), and (11) in the first cycle. As indicated by the chain line 14, the target angle θ ′ _a during the cooperative control of the first directing means 3 is set to an angle given by the following equation (14). That is, the integration processing result of the first period in the integrator 17 is the input directivity angle α of the second directivity means 4 and the first directivity for removing the directivity angle error α of the second directivity means 4. in an adder 18 for calculating a target angle theta _'a when coordinated control means 3, oriented second directing means 4 is a accumulation result of the accumulator 17 to directivity angle theta _g by the position information of the first directing means 3 The angle α will be added.

ここでは、説明を簡素化するために、第二指向手段４の指向角度αを、次の式（１５）によって与えられるものとしている。ただし、θ'_ａは協調制御をオンしてから第１回目の積算後の協調制御時の目標角度である。

Here, in order to simplify the explanation, the directivity angle α of the second directing means 4 is given by the following equation (15). However, theta _'a is the target angle at the time of cooperative control after integration of the first time after turning on the cooperative control.

As a calculation cycle applied to the explanatory diagram of FIG. 3, at the time t1 when the calculation cycle of the first cycle ends, as shown by a solid line l1 in FIG. The angle is set in advance so as to reach _a target angle θ′a at the time of cooperative control of the first directing means 3 given by the equation (14). As a result, as indicated by the long broken line 12 in FIG. 3, the directivity angle α of the second directing means 4 is canceled and becomes “0”.

At the same time, at time t1 when the second cycle starts, the integration operation is further performed once according to the above-described equations (7), (9), and (11). As indicated by the long broken line 12, the directivity angle of the second directing means 4 is “0”. Therefore, the target angle θ ′ _a during the cooperative control of the first directing means 3 is the one-dot chain line 14 of FIG. As shown by, the angle calculated by the equation (14) remains in the first period.

Further, at time t1, as shown by the solid line l1 in Fig. 3, directivity angle of the first directing means 3, since the catching up the target angle theta _'a when coordinated control of the first directing means 3, the In the two-cycle section, as indicated by the solid line 11 in FIG. 3, the directivity angle of the first directing means 3 does not change, and the angle at time t1 is maintained as it is. Therefore, the directivity angle of the second directing means 4 remains “0”.

Here, at the time t2 when the second period ends and the third period starts, either the opposite station 2 or the own station 1 moves, and the optical axis of the light emitted by the laser generator 13 of the opposite station 2 It is assumed that an error angle is generated in the light receiving sensor 7 and the directivity angle of the second directing means 4 is changed from '0' to α. At the same time, at time t2 when the third cycle starts, the integration operation is further performed once according to the above-described equations (7), (9), and (11). As a result, the target angle θ ′ _a at the time of cooperative control of the first directing means 3 is the directivity angle of the second directing means 4 changed at time t2 with respect to the angle calculated by the equation (14) in the first period. The angle α is further changed to an integrated angle, and is given by the following equation (16) as shown by a one-dot chain line 14 in FIG.

As a result, in the third cycle section, the directivity angle of the first directing means 3 moves toward the target angle θ ′ _a given by the equation (16), thereby completing the calculation cycle of the third cycle. At time t3, as indicated by the solid line l1 in FIG. 3, the directivity angle during the cooperative control of the first directing means 3 is the target angle during the cooperative control of the first directing means 3 given by equation (16). theta 'will reach the _a, thereby, as indicated by the long dashed line l2 in FIG. 3, the directivity angle α of the second directing means 4 is canceled,' it becomes 0 '.

At the same time, at time t3 when the fourth cycle starts, the integration operation is further performed once according to the above-described equations (7), (9), and (11). As indicated by the long broken line 12, the directivity angle of the second directing means 4 is “0”. Therefore, the target angle θ ′ _a during the cooperative control of the first directing means 3 is the one-dot chain line 14 of FIG. As shown by, the angle calculated by the equation (16) remains in the third period.

Further, at time t3, as shown by the solid line l1 in Fig. 3, directivity angle of the first directing means 3, since the catching up the target angle theta _'a when coordinated control of the first directing means 3, the In the four-cycle section, as indicated by the solid line 11 in FIG. 3, the directivity angle of the first directing means 3 does not change, and the angle at time t3 is maintained as it is. Therefore, the directivity angle of the second directing means 4 remains “0”.

Here, at time t4 when the fourth period ends and the fifth period starts, either the opposite station 2 or the own station 1 moves, and the optical axis of the light emitted by the laser generator 13 of the opposite station 2 It is assumed that an error angle is generated in the light receiving sensor 7 and the directivity angle of the second directing means 4 is changed from '0' to α. At the same time, at time t4 when the fifth cycle starts, the integration operation is further performed once according to the above-described equations (7), (9), and (11). As a result, the target angle θ ′ _a at the time of cooperative control of the first directing means 3 is the directivity angle of the second directing means 4 changed at time t2 with respect to the angle calculated by the equation (16) in the third period. Further, α is changed to an integrated angle, and is given by the following equation (17) as shown by a one-dot chain line 14 in FIG.

As a result, in the fifth period of the interval, directivity angle of the first directing means 3, by moving toward the target angle theta _'a given by equation (17), terminating the operation cycle of the fifth cycle At time t5, as indicated by a solid line l1 in FIG. 3, the directivity angle during the cooperative control of the first directing means 3 is the target angle during the cooperative control of the first directing means 3 given by the equation (17). theta 'will reach the _a, thereby, as indicated by the long dashed line l2 in FIG. 3, the directivity angle α of the second directing means 4 is canceled,' it becomes 0 '.

At the same time, at time t5 when the sixth period starts, the integration operation is further performed once according to the above-described equations (7), (9), and (11). As indicated by the long broken line 12, the directivity angle of the second directing means 4 is “0”. Therefore, the target angle θ ′ _a during the cooperative control of the first directing means 3 is the one-dot chain line 14 of FIG. As shown by, the angle calculated by the equation (17) remains in the fifth period.

Further, at time t5, as shown by the solid line l1 in Fig. 3, directivity angle of the first directing means 3, since the catching up the target angle theta _'a when coordinated control of the first directing means 3, the In the six-cycle section, as indicated by the solid line 11 in FIG. 3, the directivity angle of the first directing means 3 does not change, and the angle at time t5 is maintained as it is. Therefore, the directivity angle of the second directing means 4 remains “0”.

As described in detail above, the directivity angle error of the first directing means 3 obtained by applying kinematics to the directivity angle error of the second directivity means 4 to the directivity angle of the first directivity means 3 determined from the position information. Are sequentially integrated for each calculation cycle, the first cycle formula (14) → the third cycle formula (16) → the fifth cycle of the target angle θ ′ _a during the cooperative control of the first directing means 3. Since the calculation formula is sequentially changed according to the formula (17) and the corresponding calculation cycle, the directivity angle of the first directing means 3 is set to the target angle θ ′ _a during the cooperative control of the first directivity means 3. The second directing means 4 can cancel the directivity angle error and set it to “0”.

  That is, in the cooperative control method of the prior art, as shown in FIG. 5 explaining the problem, the first directing means 3 immediately responds to the rotation operation toward the target angle of the directivity angle of the first directing means 3. The target angle itself is also shifted, so that the original target angle of the first directing means 3 cannot be reached, and thus the directivity angle error of the second directing means 4 cannot be canceled. However, in the present embodiment in which the integration operation is introduced, the problems of the prior art as described above can be solved reliably.

  Next, the influence of the change of the calculation cycle on the integration operation in the integrator of the cooperative control device of FIG. 1 will be further described with reference to FIG. FIG. 4 is an explanatory diagram for explaining an example of the influence of the change of the calculation cycle on the integration operation in the integrator 17 of the cooperative control apparatus 100 of FIG. 1, and FIG. 4A is a graph of the calculation cycle of the explanatory diagram of FIG. FIG. 4B shows an operation when the calculation cycle is set to the same calculation cycle as that of the explanatory diagram of FIG. 3.

In the explanatory diagram of FIG. 4 as well, in the same manner as in the explanatory diagram of FIG. 3, only one of the EL axes is shown in order to simplify the description. Further, the horizontal axis of FIG. 4 indicates time, and the vertical axis indicates angle. In the explanatory diagram of FIG. 4, as in the explanatory diagram of FIG. 3, the step-like straight line indicated by the alternate long and short dash line 14 is _a locus of the target angle θ′a during the cooperative control of the first directing means 3. The curve indicated by the solid line 11 is a locus of the directivity angle of the first directing means 3, and the curve indicated by the long broken line 12 is the locus of the directivity angle of the second directivity means 4.

In the case of FIG. 4B set to the same calculation cycle as the calculation cycle of the explanatory diagram of FIG. 3, in the first cycle and the second cycle from the time t0 to the time t2 in the case of FIG. A case where the directivity angle deviation occurs only once at time t0 is shown. In such a case, the target angle theta _'a when coordinated control of the first directing means 3, by one of the cumulative operation at time t0 to be the beginning of the first cycle, the same as described in FIG. 3, a point in FIG. 4B As indicated by the chain line 14, the angle is given by the above-described equation (14).

Thereafter, at the time t1 when the calculation cycle of the first cycle ends, the directivity angle at the time of cooperative control of the first directing means 3 is expressed by the equation as shown by the solid line l1 in FIG. reaches the target angle theta _'a when coordinated control of the first directing means 3 given by (14), thereby, as indicated by the long dashed line l2 in FIG. 4B, the directivity angle α of the second directing means 4 Canceled to '0'.

At the same time, at time t1 when the second cycle starts, the integration operation is further performed once according to the above-described equations (7), (9), and (11). Similarly to the description, as indicated by the long broken line l2 in FIG. 4, the directivity angle of the second directing means 4 is “0”, so the target angle θ ′ _a during the cooperative control of the first directing means 3 is As shown by a dashed line 14 in FIG. 4B, the angle calculated by the equation (14) remains in the first period.

At time t1, as indicated by the solid line l1 in FIG. 4B, the directivity angle of the first directing means 3 is equal to the target angle θ ′ _a at the time of cooperative control of the first directing means 3, as described in FIG. Therefore, in the second period section, as indicated by the solid line l1 in FIG. 4B, the directivity angle of the first directivity means 3 does not change, and the angle at time t1 is maintained as it is. Therefore, the directivity angle of the second directing means 4 remains “0”.

  In the case of FIG. 4B, as described above, unlike the description in FIG. 3, the optical axis of the light emitted from the laser generator 13 of the opposite station 2 does not shift even after the second period. As indicated by a solid line 11 in FIG. 4B, the directivity angle of the second directing means 4 remains “0”.

  Next, in the case of FIG. 4A, as described above, a case where the period is halved to (1/2) of the calculation period of FIG. 3 is shown, and the section from time t0 to time t2 is shown in FIG. In the case of 4B, the first cycle and the second cycle are divided into four sections from time t0 'to time t4', and the four cycles from the first 'cycle to the fourth' cycle. It is divided into calculation cycles.

Here, before time t0 ′ in the initial state, as in the case of FIG. 3 and FIG. 4B, the cooperative control is turned off, and the pointing angle (that is, the pointing angle error) of the second pointing means 4 is α, The directivity angle of the first directing means 3 is assumed to be θ _g shown in the above equation (3).

When the cooperative control is turned on by an instruction from the user at time t0 ′, in the first ′ period, as in the case of FIG. 3 and FIG. 4B, the above-described equations (7), (9), and (11) are used. The integration operation is performed once, and the target angle θ ′ _a during the cooperative control of the first directing means 3 increases to the angle given by the above-described equation (14), as shown by the one-dot chain line 14 in FIG. 4A. . That is, the integration process result of the first 'period in the integrator 17 is the input directivity angle α of the second directing means 4, and the first directing angle error α for removing the second directing means 4 is removed. in the adder 18 for calculating a target angle theta _'a when cooperative control directing means 3, the second directing means 4 is a accumulation result of the accumulator 17 to directivity angle theta _g by the position information of the first directing means 3 The directivity angle α is added. In order to simplify the explanation, the directivity angle α of the second directing means 4 is given by the above-described equation (15) as in the case of FIG.

At time t1 'when the calculation cycle of the first' cycle ends, the calculation cycle is shortened to (1/2) in the case of FIG. 3, so that the first orientation is indicated as indicated by the solid line l1 in FIG. 4A. directivity angle when cooperative control unit 3 can not reach the target angle theta _'a when coordinated control of the first directing means 3 given by equation (14), the target angle theta of the first directing means 3 'It _stays at the angle of the following formula (18) which is half of _a .

これにより、第二指向手段４の指向角度αは、図４Ａの長破線ｌ２にて示すように、第一'周期の演算周期を終了する時刻ｔ１'においては、図３の場合とは異なり、キャンセルされることなく、すなわち、'０'まで減少することなく、（α／２）に留まることになる。

Thus, the directivity angle α of the second directing means 4 is different from the case of FIG. 3 at time t1 ′ at which the calculation period of the first ′ period ends, as shown by the long broken line l2 in FIG. 4A. It will remain at (α / 2) without being canceled, that is, without decreasing to '0'.

At the same time, at time t1 'when the second' cycle starts, the integration operation is further performed once according to the above-described equations (7), (9), and (11). At time t1 ', as shown by the long dashed line l2 of Fig. 4A, since the directivity angle of the second directing means 4 remains in (alpha / 2), the target angle theta _'a first directing means 3 during cooperative control, FIG. Unlike the case of 3, the first directing means 3 of the first directing means 3 given by the following equation (19) and in the case of FIG. Overshooting will exceed the target angle during cooperative control.

At the time t2 'at which the calculation cycle of the second' cycle ends, the calculation cycle is shortened to (1/2) in the case of FIG. 3, so that as shown by the solid line l1 in FIG. When the two calculation cycles of the cycle and the second 'cycle are finished, the directivity angle at the time of cooperative control of the first directing device 3 is the first directing device 3 given by the equation (14) in the first' cycle. once and reaches the target angle theta _'a when cooperative control.

  Thereby, at the time t2 ′ at which the calculation period of the second “cycle” ends, as shown by the long broken line l2 in FIG. 4A, the directivity angle (α / 2) of the second directing means 4 is canceled, Becomes '0'.

At the same time, at time t2 'when the third' cycle starts, the integration operation is further performed once according to the above-described equations (7), (9), and (11). At time t2 ', As indicated by the long broken line l2 in FIG. 4A, the directivity angle of the second directing means 4 is “0”, so the target angle θ ′ _a during the cooperative control of the first directing means 3 is As shown by the alternate long and short dash line 14, the angle calculated by the equation (19) remains in the second ′ period.

Here, 'in, as shown by the solid line l1 in Fig. 4A, the directivity angle of the first directing means 3, the target angle θ when coordinated control of the first directing means 3' time t2 state not keep up with _a Therefore, the directivity angle at the time of the cooperative control of the first directing means 3 is the first directivity given by the equation (19) during the section of the third 'period, as shown by the solid line 11 in FIG. 4A. keeps changing as catch up with the target angle theta _'a when cooperative control means 3. As a result, at the time t3 'at which the third' cycle ends, as shown by the solid line l1 in FIG. 4A, the directivity angle of the first directing means 3 gradually becomes the target angle during the cooperative control of the first directing means 3. It will be to catch up with θ _'a.

  As a result, the directivity angle of the second directing means 4 is canceled and becomes '0' at time t2 'when the calculation period of the second' cycle ends, as shown by the long broken line l2 in FIG. 4A. However, in the section of the third 'cycle, it continues to change by undershooting, and reaches the value of-(α / 2) at time t3' when the third 'cycle ends.

At the same time, at time t3 ′ when the fourth 'cycle starts, the integration operation is further performed once according to the above-described equations (7), (9), and (11). At time t3', As indicated by the long broken line l2 in FIG. 4A, since the directivity angle of the second directing means 4 undershoots to-(α / 2), the target angle θ ′ _a during the cooperative control of the first directing means 3 Is given by the following equation (20) as shown by a one-dot chain line 14 in FIG. 4A, and in the case of FIG. 4B, the target angle at the time of cooperative control of the first directing means 3 given by equation (14) And the same angle.

At time t4 ′ at which the calculation period of the fourth ′ period ends, as indicated by a solid line l1 in FIG. 4A, the directivity angle at the time of cooperative control of the first directing means 3 is given by the equation (20). target angle θ at the time of cooperative control directing means 3 'will be reaching the _a, thereby, as indicated by the long dashed line l2 of Fig. 4A, the directivity angle α of the second directing means 4 is canceled,' 0 '.

At the same time, at time t4 ′ when the fifth 'cycle starts, the integration operation is further performed once according to the above-described formulas (7), (9), and (11). At time t4', As indicated by the long broken line l2 in FIG. 4A, the directivity angle of the second directing means 4 is “0”, so the target angle θ ′ _a during the cooperative control of the first directing means 3 is As indicated by a dashed line 14, the angle calculated by the equation (20) remains in the fourth ′ period.

Further, 'in, as shown by the solid line l1 in Fig. 4A, the directivity angle of the first directing means 3, the target angle θ when coordinated control of the first directing means 3' time t4 since caught up with _a, In the section of the fifth 'period, as indicated by the solid line 11 in FIG. 4A, the directivity angle of the first directing means 3 does not change, and the angle at time t4 ′ is maintained as it is. Therefore, the directivity angle of the second directing means 4 remains “0”.

In the case of FIG. 4A as well as in the case of FIG. 4B, the optical axis of the light emitted from the laser generator 13 of the opposite station 2 is not shifted after the fifth ′ period, and the first directing means 3 since directivity angle is caught up with the target angle theta _'a when coordinated control of the first directing means 3, calculation cycle every equation (7), equation (9), repeated many times accumulated by equation (11) As shown by the solid line 11 in FIG. 4A, the directivity angle of the first directing means 3 does not change. Therefore, as shown by the long broken line 12 in FIG. 4A, the directivity angle of the second directing means 4 is It remains “0”.

As described above, when the calculation period is halved to (1/2) of the calculation period of FIG. 3, as shown in FIG. 4A, the first period (from time t0 ′ to time t1 ′) immediately after the cooperative control is turned on. in the calculation cycle) of the up, directivity angle of the first directing means 3, can not reach the target angle theta _'a when coordinated control of the first directing means 3, directivity angle of the second directing means 4 alpha Can not be canceled. As a result, in the operation period of the later, under the influence of integration, it will be overshoot the target angle theta _'a first directing means 3 occurs in the case of Figure 4B the same period as the operation cycle of FIG. 3 in comparison, directivity angle of the first directing means 3 the target angle θ when coordinated control of the first directing means 3 state of 'catch up with _a, directivity angle of the second directing means 4 is canceled' 0 'is maintained Convergence until it reaches the state is delayed.

As described above, the solution to the convergence delay is the integration performed for each calculation cycle until the directivity angle of the first directing means 3 reaches the target angle θ ′ during the cooperative control of the first directing means 3. This is to stop the integration operation in the device 17. That is, by stopping the integration operations, since it is unnecessary to target angle theta _'a first directing means 3 is overshoot, it is possible to eliminate the occurrence of convergence delay.

In the description of the above embodiment, the directivity angle generator 15 based on the position information of the cooperative control apparatus 100 shown in FIG. 1 uses only the position information of the own station 1 and the opposite station 2 and uses the first directivity. Although the case where the target angle θ _g based on the position information of the means 3 is generated has been described, not only the position information between the own station 1 and the opposite station 2 but also the position information between the own station 1 and the opposite station 2 Furthermore, attitude information between the own station 1 and the opposite station 2 may be taken into account. That is, the local station position information acquisition unit 8 and the counter station position information acquisition unit 14 which are position information acquisition means are not only the positional information of the local station 1 and the counter station 2 but also the attitudes of the local station 1 and the counter station 2. Information may also be acquired by the attitude sensor and supplied to the directivity angle generator 15 based on position information.

  In the above description of the embodiment, the description has been made on the assumption that the rotating shafts of the directing means are two axes, but the present invention is not limited to such a case. That is, it may be composed of a plurality of three or more axes. In the converter 16 of the cooperative control apparatus 100 shown in FIG. 1, for example, the kinematic formula as shown in the above formula (1). By controlling to convert the directivity angle error of each of the plurality of axes of the directing means to cancel (remove) the directivity angle error into the directivity angle error of each of the multiple axes of the other directivity means, The same cooperative control as in the embodiment can be performed.

  In the above description of the embodiment, the description has been made on the assumption that the directing means is composed of the two directing means of the first directing means 3 and the second directing means 4, but the present invention is in such a case. It is not limited to only. That is, the directing means may be composed of three or more directing means. In the converter 16 of the cooperative control device 100 shown in FIG. By the kinematic formulation as described above, the directing angle error is controlled to be converted into the directivity angle error of each of the remaining directing means from the directing means to cancel (remove) the directing angle error. Cooperative control can be implemented.

(Explanation of effect of embodiment)
As described in detail above, the following effects are obtained in the present embodiment.

That is, in the two directivity means of the first directivity means 3 and the second directivity means 4 provided as the directivity means used for receiving the optical signal from the opposite station 2, the converter 16 and the integrator 17 make the second directivity. The kinematics is applied to the pointing angle error α of the means 4 to determine the pointing angle error of the first pointing means 3, and the calculated pointing angle error of the first pointing means 3 is set as the target error angle for each calculation cycle. by using the result, the adder 18, since the calculating the target angle theta _'a when coordinated control of the first directing means 3, the directivity angle of the first directing means 3 first directing means 3 of reliably it is possible to reach the target angle theta _'a when coordination control can be reliably canceled directivity angle error α of the second directing means 4.

Further, when generating the target angle θ _g based on the position information of the first directing means 3, not only the position information between the own station 1 and the opposite station 2 but also the posture information between the own station 1 and the opposite station 2 are taken into account. Information is used, the rotation axis of the first directing means 3 and the second directing means 4 is not only two axes but also a rotation axis composed of a plurality of three or more axes, the first directing means 3 and the second directing means 3 By using not only the two directional means of the directional means 4 but also three or more directional means, the directional angle error can be canceled with higher accuracy.

  The configuration of the preferred embodiment of the present invention has been described above. However, it should be noted that such embodiments are merely examples of the present invention and do not limit the present invention in any way. Those skilled in the art will readily understand that various modifications and changes can be made according to a specific application without departing from the gist of the present invention.

  This application claims the priority on the basis of Japanese application Japanese Patent Application No. 2012-163539 for which it applied on July 24, 2012, and takes in those the indications of all here.

DESCRIPTION OF SYMBOLS 1 Local station 2 Opposite station 3 First directing means 4 Second directing means 5 First directing means angle sensor 6 Second directing means angle sensor 7 Light receiving sensor 8 Local station position information acquisition device 9 Second controller 10 Second driver 11 First controller 12 First driver 13 Laser generator 14 Opposite station position information acquisition unit 15 Directional angle generator based on position information 16 Converter 17 Accumulator 18 Adder 100 Coordinated control device l1 Solid line l2 Long broken line l3 Short broken line l4 One point Chain line

Claims (10)

A cooperative control device for controlling the first directional means and the second directional means provided as the directional means used for receiving the optical signal from the opposite station in cooperation with each other,
Position information acquisition means for acquiring both the position information of the own station and the opposite station or the position information and the attitude information of the own station and the opposite station;
A target based on position information of the first directing means using both the position information of the own station and the opposite station acquired by the position information acquisition means or the position information and the attitude information of the own station and the opposite station. Directivity angle generating means for calculating an angle;
By applying kinematics to the directional angle error of the second directional means, the target angle based on the position information of the first directional means calculated by the directional angle generating means is set as the directional angle error of the second directional means. Conversion means for converting to a target angle using the kinematics of the first directing means for removing;
The target error angle of the first directing means obtained by subtracting the target angle based on the position information of the first directing means from the target angle using the kinematics of the first directing means converted by the converting means. Integrating means for integrating;
It is possible to remove the pointing angle error of the second directing means by adding the target error angle of the first directing means accumulated by the integrating means to the target angle based on the position information of the first directing means. Adding means for outputting as a target angle at the time of cooperative control of the first directing means;
A coordinated control device comprising:   The cooperative control apparatus according to claim 1, wherein the integration unit performs the operation of integrating the target error angle of the first directing unit by the integration unit every calculation period of a predetermined period.   The integration operation in the integration unit is stopped until the directivity angle of the first directing unit reaches the target angle during the cooperative control of the first directing unit. 3. The cooperative control device according to 2.   The rotation axes of the first directing means and the second directing means are composed of two or more axes, and in the conversion means, the two directing means of the first directing means and the second directing means, The directional angle error of each of the plurality of axes of the second directional means for removing the directional angle error is converted into a directional angle error of each of the plurality of axes of the first directional means by kinematic formulation. The cooperative control apparatus according to any one of claims 1 to 3. Further comprising a third directing means, before Symbol conversion means, among the directing means of multiple, kinematics directivity angle error of the directional means to be removed the directional angular error in the remaining directing means each oriented angle error 5. The cooperative control device according to claim 1, wherein the cooperative control device performs conversion by means of a formal formulation. A cooperative control method for controlling the first directional means and the second directional means provided as the directional means used for receiving the optical signal from the opposite station in cooperation with each other,
A position information acquisition step of acquiring both the position information of the own station and the opposite station or the position information and the attitude information of the own station and the opposite station;
Using both the position information of the own station and the opposite station acquired in the position information acquisition step or the position information and the attitude information of the own station and the opposite station, the target based on the position information of the first directing means A directivity angle generation step for calculating an angle;
By applying kinematics to the pointing angle error of the second pointing means, the target angle based on the position information of the first pointing means calculated by the pointing angle generation step is set to the pointing angle error of the second pointing means. A conversion step for converting to a target angle using the kinematics of the first directing means for removal;
A target error angle of the first directing means obtained by subtracting a target angle based on the position information of the first directing means from a target angle using the kinematics of the first directing means converted by the conversion step. An integration step to integrate,
It is possible to add the target error angle of the first directing means accumulated in the integrating step to the target angle based on the position information of the first directing means to remove the directivity angle error of the second directing means. An adding step for outputting as a target angle at the time of cooperative control of the first directing means;
A coordinated control method.   The cooperative control method according to claim 6, wherein the integration step performs the integration operation of the target error angle of the first directing means by the integration step at every predetermined calculation period.   The integration operation in the integration step is stopped until the directivity angle of the first directing means reaches the target angle at the time of the cooperative control of the first directing means. 8. The cooperative control method according to 7. Examples directing means further includes a third directing means, before Symbol conversion step, of directing means of the multiple, the directional directivity angular error directing means to be removed the angular error directivity of the respective remaining-oriented means 9. The cooperative control method according to claim 6, wherein the angle error is converted by kinematic formulation. On the computer,
A recording medium storing a cooperative control program, wherein the processing based on the cooperative control method according to any one of claims 6 to 9 is executed .

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